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Distributed control of triangular formations with angle-only constraints (2010).
| Content Provider | CiteSeerX |
|---|---|
| Author | Basiri, Meysam Bishop, Adrian N. Jensfelt, Patric |
| Abstract | This paper considers the coupled formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming the desired angular separation of each agent relative to the group is feasible, then a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape. |
| File Format | |
| Publisher Date | 2010-01-01 |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
